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https://github.com/facebookresearch/pyrobot
PyRobot: An Open Source Robotics Research Platform
https://github.com/facebookresearch/pyrobot
Last synced: about 16 hours ago
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PyRobot: An Open Source Robotics Research Platform
- Host: GitHub
- URL: https://github.com/facebookresearch/pyrobot
- Owner: facebookresearch
- License: mit
- Created: 2019-02-01T02:28:00.000Z (almost 6 years ago)
- Default Branch: main
- Last Pushed: 2023-10-03T21:35:11.000Z (about 1 year ago)
- Last Synced: 2024-12-13T23:04:58.100Z (8 days ago)
- Language: Python
- Homepage: https://pyrobot.org
- Size: 44.3 MB
- Stars: 2,256
- Watchers: 63
- Forks: 351
- Open Issues: 55
-
Metadata Files:
- Readme: README.md
- Changelog: CHANGELOG.md
- Contributing: CONTRIBUTING.md
- License: LICENSE
- Code of conduct: CODE_OF_CONDUCT.md
Awesome Lists containing this project
- awesome-list - PyRobot - An Open Source Robotics Research Platform. (Reinforcement Learning / Others)
README
[PyRobot](https://www.pyrobot.org/) is a light weight, high-level interface which provides hardware independent APIs for robotic manipulation and navigation. This repository also contains the low-level stack for [LoCoBot](http://locobot.org), a low cost mobile manipulator hardware platform.
- [What can you do with PyRobot?](#what-can-you-do-with-pyrobot)
- [Installation](#installation)
- [Getting Started](#getting-started)
- [The Team](#the-team)
- [Citation](#citation)
- [License](#license)
- [Future features](#Future-features)
## What can you do with PyRobot?
## Installation
### Installing both PyRobot and LoCoBot dependencies
* Install **Ubuntu 16.04**
* Download the installation script
```bash
sudo apt update
sudo apt-get install curl
curl 'https://raw.githubusercontent.com/facebookresearch/pyrobot/main/robots/LoCoBot/install/locobot_install_all.sh' > locobot_install_all.sh
```
* Run the script to install everything (ROS, realsense driver, etc.).
If you want to use real LoCoBot robot, please run the following command:
**Please connect the nuc machine to a realsense camera before running the following commands**.
```bash
#-t Decides the type of installation. Available Options: full or sim_only
#-p Decides the python version for pyRobot. Available Options: 2 or 3
#-l Decides the type of LoCoBot hardware platform. Available Options: cmu or interbotix
chmod +x locobot_install_all.sh
./locobot_install_all.sh -t full -p 2 -l interbotix
```
If you want to use simulated LoCoBot in Gazebo only, please run the following commands instead:
```bash
#-t Decides the type of installation. Available Options: full or sim_only
#-p Decides the python version for pyRobot. Available Options: 2 or 3
#-l Decides the type of LoCoBot hardware platform. Available Options: cmu or interbotix
chmod +x locobot_install_all.sh
./locobot_install_all.sh -t sim_only -p 2 -l interbotix
```
**Note**: To install Python 3 compatible PyRobot, modify ```-p 2``` to ```-p 3``` in the above commands.
### Installing just PyRobot
* Install **Ubuntu 16.04**
* Install [ROS kinetic](http://wiki.ros.org/kinetic/Installation/Ubuntu)
* Install PyRobot
```bash
cd ~
mkdir -p low_cost_ws/src
cd ~/low_cost_ws/src
git clone --recurse-submodules https://github.com/facebookresearch/pyrobot.git
cd pyrobot/
chmod +x install_pyrobot.sh
./install_pyrobot.sh -p 2 #For python3, modify the argumet to -p 3
```
**Warning**: As realsense keeps updating, compatibility issues might occur if you accidentally update
realsense-related packages from `Software Updater` in ubuntu. Therefore, we recommend you not to update
any libraries related to realsense. Check the list of updates carefully when ubuntu prompts software udpates.
## Getting Started
Please refer to [pyrobot.org](https://pyrobot.org/) and [locobot.org](http://locobot.org)
## The Team
[Adithya Murali](http://adithyamurali.com/), [Tao Chen](https://taochenshh.github.io), [Dhiraj Gandhi](http://www.cs.cmu.edu/~dgandhi/), Kalyan Vasudev, [Lerrel Pinto](http://www.cs.cmu.edu/~lerrelp/), [Saurabh Gupta](http://saurabhg.web.illinois.edu) and [Abhinav Gupta](http://www.cs.cmu.edu/~abhinavg/). We would also like to thank everyone who has helped PyRobot in any way.
## Future features
We are planning several features, namely:
* Interfacing with other simulators like [AI Habitat](https://aihabitat.org)
* Gravity compensation
* PyRobot interface for [UR5](https://www.universal-robots.com)
## Citation
```
@article{pyrobot2019,
title={PyRobot: An Open-source Robotics Framework for Research and Benchmarking},
author={Adithyavairavan Murali and Tao Chen and Kalyan Vasudev Alwala and Dhiraj Gandhi and Lerrel Pinto and Saurabh Gupta and Abhinav Gupta},
journal={arXiv preprint arXiv:1906.08236},
year={2019}
}
```
## License
PyRobot is under MIT license, as found in the LICENSE file.